From 646e7ade7196c86ac6cb3363280faf668106cbf1 Mon Sep 17 00:00:00 2001
From: rickstaa <rick.staa@outlook.com>
Date: Wed, 25 Aug 2021 21:16:46 +0200
Subject: [PATCH] Removes STOMP from default planning algorithms

This commit removes the STOMP planner from the default supported planner
since the https://github.com/ros-industrial/stomp_ros package can not be
added as a dependency yet (i.e. the ROS noetic release is not yet available).
---
 launch/move_group.launch                  |  7 +------
 launch/stomp_planning_pipeline.launch.xml | 17 +++++++++++------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/launch/move_group.launch b/launch/move_group.launch
index 96c8784..f746839 100644
--- a/launch/move_group.launch
+++ b/launch/move_group.launch
@@ -61,18 +61,13 @@
       <arg name="pipeline" value="chomp" />
     </include>
 
-    <!-- STOMP -->
-    <include ns="stomp" file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="stomp" />
-    </include>
-
     <!-- Pilz Industrial Motion -->
     <include ns="pilz_industrial_motion_planner" file="$(dirname)/planning_pipeline.launch.xml">
       <arg name="pipeline" value="pilz_industrial_motion_planner" />
     </include>
 
     <!-- Support custom planning pipeline -->
-    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'stomp', 'pilz_industrial_motion_planner'])"
+    <include ns="$(arg pipeline)" if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
        file="$(dirname)/planning_pipeline.launch.xml">
       <arg name="pipeline" value="$(arg pipeline)" />
     </include>
diff --git a/launch/stomp_planning_pipeline.launch.xml b/launch/stomp_planning_pipeline.launch.xml
index a5ccd64..06b42dc 100644
--- a/launch/stomp_planning_pipeline.launch.xml
+++ b/launch/stomp_planning_pipeline.launch.xml
@@ -1,20 +1,25 @@
 <launch>
-
   <!-- Stomp Plugin for MoveIt! -->
   <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
 
-  <!-- The request adapters (plugins) ORDER MATTERS -->
-  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="jiggle_fraction" value="0.05" />
+  <!-- The request adapters (plugins) used when planning.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization
                                        default_planner_request_adapters/FixWorkspaceBounds
                                        default_planner_request_adapters/FixStartStateBounds
                                        default_planner_request_adapters/FixStartStateCollision
                                        default_planner_request_adapters/FixStartStatePathConstraints" />
 
-  <arg name="start_state_max_bounds_error" value="0.1" />
 
   <param name="planning_plugin" value="$(arg planning_plugin)" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-  <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml"/>
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
 
-</launch>
\ No newline at end of file
+  <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml"/>
+</launch>